RiWORLD transforms the scan data into the coordinate system of the position and orientation data set, usually WGS84 (world geodetic system). It thus provides the acquired laser data of the object's surfaces within a geocentered coordinate system for further processing.
In order to transform the scan data with high accuracy RiWORLD requires an accurate geometrical system description as an input, i.e., the transformations from the scanner system to the IMU/GPS coordinate system, and to the vehicle body coordinate system. The output data of RiWORLD can be described as a point cloud in WGS84 with additional descriptors for each point such as amplitude of echo return, echo pulse width, pre-classification, and more. RiWORLD is smoothly integrated into the project-oriented processing software RiPROCESS.